Development of a genetic algorithm for the optimization of hexapod robot parameters

Bibliographic Details
Main Author: Silva, Manuel
Publication Date: 2009
Other Authors: Barbosa, Ramiro, Tenreiro Machado, J. A.
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10400.22/13651
Summary: Legged robots allow the locomotion on terrains inaccessible to other type of vehicles because they do not need a continuous support surface. Different strategies have been adopted for the optimization of these systems, during their design and construction phases, and during their operation. Among the different optimization criteria followed by different authors, it is possible to find issues related to energy efficiency, stability, speed, comfort, mobility and environmental impact. Evolutionary strategies are a way to ”imitate nature” replicating the process that nature designed for the generation and evolution of species. The objective of this paper is to present a genetic algorithm, running over a simulation application of legged robots, which allows the optimization of several parameters of the robot model and of its gaits, for different locomotion speeds.
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spelling Development of a genetic algorithm for the optimization of hexapod robot parametersGaitGenetic AlgorithmsLegged RobotsLocomotionOptimizationLegged robots allow the locomotion on terrains inaccessible to other type of vehicles because they do not need a continuous support surface. Different strategies have been adopted for the optimization of these systems, during their design and construction phases, and during their operation. Among the different optimization criteria followed by different authors, it is possible to find issues related to energy efficiency, stability, speed, comfort, mobility and environmental impact. Evolutionary strategies are a way to ”imitate nature” replicating the process that nature designed for the generation and evolution of species. The objective of this paper is to present a genetic algorithm, running over a simulation application of legged robots, which allows the optimization of several parameters of the robot model and of its gaits, for different locomotion speeds.REPOSITÓRIO P.PORTOSilva, ManuelBarbosa, RamiroTenreiro Machado, J. A.2019-04-18T11:18:58Z2009-092009-09-01T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10400.22/13651enginfo:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-04-02T03:13:44Zoai:recipp.ipp.pt:10400.22/13651Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:47:26.586745Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Development of a genetic algorithm for the optimization of hexapod robot parameters
title Development of a genetic algorithm for the optimization of hexapod robot parameters
spellingShingle Development of a genetic algorithm for the optimization of hexapod robot parameters
Silva, Manuel
Gait
Genetic Algorithms
Legged Robots
Locomotion
Optimization
title_short Development of a genetic algorithm for the optimization of hexapod robot parameters
title_full Development of a genetic algorithm for the optimization of hexapod robot parameters
title_fullStr Development of a genetic algorithm for the optimization of hexapod robot parameters
title_full_unstemmed Development of a genetic algorithm for the optimization of hexapod robot parameters
title_sort Development of a genetic algorithm for the optimization of hexapod robot parameters
author Silva, Manuel
author_facet Silva, Manuel
Barbosa, Ramiro
Tenreiro Machado, J. A.
author_role author
author2 Barbosa, Ramiro
Tenreiro Machado, J. A.
author2_role author
author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Silva, Manuel
Barbosa, Ramiro
Tenreiro Machado, J. A.
dc.subject.por.fl_str_mv Gait
Genetic Algorithms
Legged Robots
Locomotion
Optimization
topic Gait
Genetic Algorithms
Legged Robots
Locomotion
Optimization
description Legged robots allow the locomotion on terrains inaccessible to other type of vehicles because they do not need a continuous support surface. Different strategies have been adopted for the optimization of these systems, during their design and construction phases, and during their operation. Among the different optimization criteria followed by different authors, it is possible to find issues related to energy efficiency, stability, speed, comfort, mobility and environmental impact. Evolutionary strategies are a way to ”imitate nature” replicating the process that nature designed for the generation and evolution of species. The objective of this paper is to present a genetic algorithm, running over a simulation application of legged robots, which allows the optimization of several parameters of the robot model and of its gaits, for different locomotion speeds.
publishDate 2009
dc.date.none.fl_str_mv 2009-09
2009-09-01T00:00:00Z
2019-04-18T11:18:58Z
dc.type.driver.fl_str_mv conference object
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13651
url http://hdl.handle.net/10400.22/13651
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
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repository.mail.fl_str_mv info@rcaap.pt
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